CN102090205A - Multi-parameter control system for threshing performance of combined harvester - Google Patents
Multi-parameter control system for threshing performance of combined harvester Download PDFInfo
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Abstract
The invention discloses a multi-parameter control system for threshing performance of a combined harvester, comprising a data collecting unit, a control executing unit and a displaying unit, wherein the data collecting unit is used for collecting each operation parameter of the combined harvester and processing the parameters and then transmitting to the control executing unit; the control executing unit is used for calculating the received operation parameters to obtain the optimal solutions of the controlled parameters, and controlling the output of the controlled quantity according to the optimal solutions; and the display unit is used for displaying the operation parameters of the combined harvester in real time during the operation. The control system disclosed by the invention uses the multi-parameter real-time control strategys to regulate various operation parameters of the combined harvester according to the variation of the field operation state of the combined harvester, thereby further ensuring the harvesting quality and ensuring the working efficiency of the combined harvester.
Description
Technical field
The present invention relates to the agricultural mechanization production technical field, particularly relate to a kind of combine threshing performance multi parameters control system.
Background technology
Threshing system is the important component part of combine, and the performance of the main system of other of combine and its all have close getting in touch.Wherein, the rotating speed of threshing cylinder is the important parameter that influences combine threshing quality, and for various crops, threshing cylinder all exists the optimized rotating speed territory corresponding with it.It is higher to be lower than the crop kernel impurity content of prescribing a time limit under this threshold value, also can cause conveyer or threshing cylinder to stop up if feed quantity raises; Can strengthen the seed damage when being higher than upper threshold again.Therefore, how the threshing cylinder rotating speed being controlled in the optimum range is the current problem of needing solution badly.
At present, during the major part combine operation,, adjust the travel speed of combine according to the farm work actual conditions only with tractor driver's operating experience, change the threshing cylinder moment of torsion to reach the regulating system feed quantity thereupon, thereby guaranteed the operate as normal and the threshing quality of threshing cylinder.But, this operating type automatization level is lower, operant level for the tractor driver requires higher relatively, labour intensity is big, the tractor driver can reference the combine operation parameter comparatively single, and the contiguity between each parameter is not strong, can not reach the accurate sign of operation quality and grain header system mode.Also there are a spot of combine automatic control system and corresponding threshing cylinder FUZZY ALGORITHMS FOR CONTROL, pid control algorithm to be suggested at present, but they are many to be single controlled parameter with control combine travel speed, though certain breakthrough has been arranged on multi-sensor information fusion and control algolithm, but stickiness, non-linear complicated time-varying system during for such one of combine, the automatic speed regulation system that changes single parameter is for guaranteeing that the time-delay of system job mass effect is bigger.Therefore, need the corresponding multi-parameter threshing cylinder constant speed automatic control system of research badly, each job parameter of combine is carried out analysis-by-synthesis, formulate the multi parameters control scheme, to improve the ageing of combine operation quality control.
Present existing combine automatic control system, focus mostly in control to operating speed, the variation of the system job load that reflects by parameters such as grain header feed quantity, threshing cylinder moment of torsion, defeated grain screw feeder rotating speeds, according to many information fusion FUZZY ALGORITHMS FOR CONTROL, cooperate automatic speed regulation system, regulate the combine travel speed, influence grain header feed quantity and associated parameters, improve the purpose of system job state to reach.This control system is only when controlled volume surpasses the setting limiting value, regulate and just work, complication system to the bigger time-delay of this existence of combine, the situation of change of controlled parameter often is difficult in time be grasped, thereby cause controlled volume fluctuations in a big way, make system's control index produce vibration, finally cause control system to lose efficacy or the threshing cylinder stall.
Summary of the invention
(1) technical problem that will solve
The technical problem to be solved in the present invention is how each parameter that influences the combined harvester threshing cylinder rotating speed to be controlled, and to guarantee the operation quality of combine, further improves the operating efficiency and the automatization level of combine.
(2) technical scheme
For solving the problems of the technologies described above, a kind of combine threshing performance multi parameters control system is provided, comprising:
Data acquisition unit is used to gather each job parameter of combine and will be sent to the control performance element after its processing;
The control performance element is used for calculating according to the described job parameter that receives the optimal solution of controlled parameter, and controls the output of controlled volume according to described optimal solution;
Display unit is used for showing in real time the job parameter of combine operation process.
Preferably, described data acquisition unit comprises:
Sensor, each job parameter that is used to gather combine;
Signal conditioning circuit is used to handle the described job parameter that is collected by sensor;
Data acquisition unit is used to gather the job parameter through after the signal conditioning circuit processing.
Preferably, described data acquisition unit also comprises:
Audible-visual annunciator is used for the warning indication under the combine operation parameter non-normal working.
Preferably, described control performance element comprises:
Microprocessor is used for calculating according to the job parameter of described data acquisition unit collection the optimal solution of controlled parameter;
Drive motors is used for the optimal solution according to described controlled parameter, drives the output control of control executing agency execution to controlled volume;
Executing agency is used for carrying out the output control to controlled volume under the driving control of described drive motors.
Preferably, described control performance element also comprises:
Status indicator lamp is used to show the combine operation state.
Preferably, described system also comprises optimum constant speed control module, and it comprises that data processing interface, control output interface, system debug interface and system are provided with the interface.
Preferably, connect by the CAN bus between described data acquisition unit, control performance element and the display unit.
Preferably, the described controlled parameter speed that is threshing cylinder.
(3) beneficial effect
By adopting the real-time control strategy of multi-parameter, according to the variation of combine farm work state, the rotating speed of threshing cylinder is regulated, when guaranteeing combine operation efficient, further to guarantee the results quality.
Description of drawings
Fig. 1 is the system's control block diagram according to the combine threshing performance multi parameters control system of embodiment of the present invention;
Fig. 2 is the analog signal conditioner circuit diagram according to the combine threshing performance multi parameters control system of embodiment of the present invention;
Fig. 3 is the data signal modulate circuit figure according to the combine threshing performance multi parameters control system of embodiment of the present invention;
Fig. 4 is the core processor circuit theory diagrams according to the combine threshing performance multi parameters control system of embodiment of the present invention;
Fig. 5 is the software main program flow chart according to the combine threshing performance multi parameters control system of embodiment of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used to illustrate the present invention, but are not used for limiting the scope of the invention.
As shown in Figure 1, the invention provides a kind of combine threshing performance multi parameters control system, comprise data acquisition unit, be used to gather each job parameter of combine and it is sent to the control performance element after handling; The control performance element is used for calculating according to the described job parameter that receives the optimal solution of controlled parameter, and controls the output of controlled volume according to optimal solution; Display unit is used for showing in real time the job parameter of combine operation process.Each job parameter of combine comprises the frequency of rice pulling wheel rotating speed, knife frequency, defeated grain screw feeder rotating speed, threshing cylinder rotating speed and moment of torsion, engine speed, travel speed and vibratory sieve in this embodiment.Pass through the CAN bus communication protocol between data acquisition unit, control performance element and the display unit, adopt many master modes to finish the mutual fast of data, and pass through display unit, be presented at each job parameter of combine on the LCDs in real time, guarantee that the combine operating personnel can obtain the relevant information of harvester operation fast, and in time finish the control corresponding operation.The controlled parameter here refers to the speed of threshing cylinder.
Wherein, data acquisition unit comprises: sensor, each job parameter that is used to gather combine; Signal conditioning circuit is used to handle above-mentioned each job parameter that is collected by sensor; Data acquisition unit is used to gather each job parameter through after the signal conditioning circuit processing.Data acquisition unit can also comprise audible-visual annunciator, is used for the warning indication under the combine operation parameter non-normal working.The analog signal conditioner circuit of this embodiment and the circuit diagram of data signal modulate circuit are respectively shown in Fig. 2 and 3.
The control performance element comprises: microprocessor is used for calculating according to the job parameter of described data acquisition unit collection the optimal solution of controlled parameter; Drive motors is used for the optimal solution according to described controlled parameter, drives the output control of control executing agency execution to controlled volume; Executing agency is used for carrying out the output control to controlled volume under the driving control of described drive motors.The control performance element can also comprise: status indicator lamp is used to indicate the duty of combine.
Utilize following formula to calculate controlled parameter in this embodiment, be the speed of threshing cylinder,
Wherein: ω: the angular speed during the threshing cylinder operation;
Angular acceleration when moving for threshing grain cylinder; J: the rotary inertia of threshing cylinder; R: the equivalent redius of threshing cylinder; γ: the ratio of grain to straw of crop; A, B: threshing cylinder overcomes the resistance coefficient of friction in pairs power and air; N: the consumed power of threshing cylinder; λ: grain outlet velocity ratio; Q: feed quantity, q=H ρ
ων
x, H is a grain cutting width, ρ
ωBe cropping intensity, ν
xBe the combine travel speed.
The angular acceleration that provides according to following formula and the relation of each job parameter, just can be according to the actual conditions of combine, obtain corresponding control strategies, each control parameter is regulated near setting value, guarantee the stable operation of threshing cylinder, and then improve the results quality and the operating efficiency of combine.
Except that comprising above-mentioned hardware cell, also comprise supporting software systems in this embodiment.The optimum constant speed control of combined harvester threshing cylinder software is handled by data that interface, control output interface, system debug interface, system are provided with the interface, the system help interface is formed, and major function comprises processing, analysis, demonstration and the preservation of the data acquisition system being uploaded data; The setting of threshing cylinder constant speed control algolithm, calculating and output are controlled and are debugged based on the communication of CAN bus.As shown in Figure 5, after the optimum constant speed control of combined harvester threshing cylinder software main program carries out system initialization, at first call data acquisition subprogram, liquid crystal display subprogram, and every relevant parameter of subprogram, warning subprogram and output control subprogram that situation is provided with threshing cylinder constant speed control algolithm is set according to system, finish the functions such as data acquisition, demonstration and combine operation status fault alarm decision, job parameter output control of combine operation parameter.When system is arranged under the automated manner work, the subprogram that main program calls threshing cylinder constant speed control algolithm is automatically carried out data computation and is obtained optimal solution, and control decision is outputed to the control that the control executive system is carried out each relevant parameter (as travel speed, defeated grain screw feeder rotating speed, straw shift wheel rotating speed etc.) by the CAN bus, make the combined harvester threshing cylinder stabilization of speed within corresponding optimized scope, guarantee high operating efficiency when obtaining higher results quality to be implemented in.
The purpose of the optimum constant speed control of combined harvester threshing cylinder is under the prerequisite that guarantees less yield loss, lower combine operation power consumption, guarantees that threshing cylinder has the rotating speed state of stable optimum.Combine is a nonlinear time-varying and the complication system with large dead time in the course of the work, the transaction capabilities state of each workpiece, and the character of Different Crop, field surface states etc. are all changing at any time, therefore the combined harvester threshing cylinder speed control system is an input/output control system more than, utilize sensing system to record the straw shift wheel rotating speed respectively, knife frequency, defeated grain screw feeder rotating speed, the threshing cylinder rotating speed, the threshing cylinder moment of torsion, combine operation status signals such as travel speed and carry out preliminary treatment after, utilize threshing cylinder constant speed control algolithm to carry out COMPREHENSIVE CALCULATING, and compare with preset value and variation ratio, export control according to difference, guarantee the stable operation in optimized scope of combined harvester threshing cylinder rotating speed.
Core microprocessors is according to the work of the corresponding export control policy control of threshing cylinder constant speed control algolithm executing agency, the basic controlling strategy is: when the combine feed quantity excessive, such as 10% o'clock above preset value, core microprocessors is called current time threshing cylinder rotating speed simultaneously, job parameter such as moment of torsion and feed quantity data, judge whether current threshing cylinder angular acceleration change amount is 0, if variable quantity is greater than zero, the rated load of the current overall work resistance of combine less than threshing cylinder then is described, combine does not reach the highest operating efficiency, should further improve travel speed this moment, the straw shift wheel rotating speed, relevant parameters such as defeated grain screw feeder rotating speed improve the operating efficiency of combine to increase system's feed quantity; If variable quantity, then shows the rated load of total at present work resistance greater than threshing cylinder less than zero, should take to reduce the control strategy of feed quantity this moment, continue to increase the threshing cylinder stall that causes to avoid loading; When angular acceleration equals zero, the threshing cylinder motion state that just remaining a constant speed is described, the combine each several part all keeps stable duty, has reached best operating efficiency when guaranteeing the results quality.The circuit theory diagrams of core microprocessors are seen Fig. 4.
This embodiment adopts threshing cylinder optimized rotating speed territory control thought, the rotating speed of combined harvester threshing cylinder is regulated, further to guarantee to gather in the crops quality when guaranteeing combine operation efficient; Adopt the real-time control strategy of multi-parameter,, the threshing cylinder rotating speed is carried out multi-parameter output regulate in real time in the optimized rotating speed territory according to the variation of combine farm work state; Utilize many master modes of CAN bus work characteristics, realize quick, the high reliability communication of information between data acquisition, processing, control, the display module, further strengthened the rapidity and the reliability of control system.
The above only is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the technology of the present invention principle; can also make some improvement and modification, these improve and modification also should be considered as protection scope of the present invention.
Claims (8)
1. a combine threshing performance multi parameters control system is characterized in that, comprising:
Data acquisition unit is used to gather each job parameter of combine and will be sent to the control performance element after its processing;
The control performance element is used for calculating according to the described job parameter that receives the optimal solution of controlled parameter, and controls the output of controlled volume according to described optimal solution;
Display unit is used for showing in real time the job parameter of combine operation process.
2. combine threshing performance multi parameters control as claimed in claim 1 system is characterized in that described data acquisition unit comprises:
Sensor, each job parameter that is used to gather combine;
Signal conditioning circuit is used to handle the described job parameter that is collected by sensor;
Data acquisition unit is used to gather the job parameter through after the signal conditioning circuit processing.
3. combine threshing performance multi parameters control as claimed in claim 2 system is characterized in that described data acquisition unit also comprises:
Audible-visual annunciator is used for the warning indication under the combine operation parameter non-normal working.
4. combine threshing performance multi parameters control as claimed in claim 1 system is characterized in that described control performance element comprises:
Microprocessor is used for calculating according to the job parameter of described data acquisition unit collection the optimal solution of controlled parameter;
Drive motors is used for the optimal solution according to described controlled parameter, drives the output control of control executing agency execution to controlled volume;
Executing agency is used for carrying out the output control to controlled volume under the driving control of described drive motors.
5. combine threshing performance multi parameters control as claimed in claim 4 system is characterized in that described control performance element also comprises:
Status indicator lamp is used to show the combine operation state.
6. combine threshing performance multi parameters control as claimed in claim 1 system is characterized in that described system also comprises optimum constant speed control module, and it comprises that data handle interface, control output interface, system debug interface and system the interface is set.
7. as each described combine threshing performance multi parameters control system of claim 1-6, it is characterized in that, connect by the CAN bus between described data acquisition unit, control performance element and the display unit.
8. as each described combine threshing performance multi parameters control system of claim 1-6, it is characterized in that described controlled parameter is the speed of threshing cylinder.
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102696337A (en) * | 2012-06-19 | 2012-10-03 | 中国农业大学 | Multi-objective control interference resistance optimization method for combine harvesters |
| CN103019123A (en) * | 2012-12-26 | 2013-04-03 | 上海大学 | Intelligent control system for cotton picker |
| CN103749075A (en) * | 2014-01-02 | 2014-04-30 | 洛阳理工学院 | Control system for combined harvesters |
| CN105549484A (en) * | 2016-01-22 | 2016-05-04 | 济南大学 | Corn threshing and threshing intelligent control system based on DSP |
| CN106612939A (en) * | 2016-12-30 | 2017-05-10 | 广西民族大学 | Sugarcane harvester and anti-clogging method thereof |
| CN108506283A (en) * | 2018-03-06 | 2018-09-07 | 广西大学 | A kind of anti-blocking electrohydraulic control system of sugar-cane cutting machine transfer passage |
| CN109526381A (en) * | 2019-01-07 | 2019-03-29 | 中国农业大学 | A kind of low damage threshing control system of maize harvesting machine and method |
| CN109548465A (en) * | 2019-01-11 | 2019-04-02 | 雷沃重工股份有限公司 | The autocontrol method and control system and cropper of a kind of roller variable speed |
| CN109932178A (en) * | 2019-02-01 | 2019-06-25 | 江苏大学 | A kind of multiple strand chain drive failure diagnostic system and method |
| CN110249780A (en) * | 2019-05-22 | 2019-09-20 | 江苏大学 | A kind of sorting screen surface material state monitoring system and control method and combine harvester |
| CN110447379A (en) * | 2018-05-08 | 2019-11-15 | 克拉斯自行式收获机械有限公司 | Combine harvester and method for running combine harvester |
| CN112690079A (en) * | 2021-01-20 | 2021-04-23 | 农业农村部南京农业机械化研究所 | Middle conveying device for self-propelled intelligent peanut seedling harvester |
| CN112913441A (en) * | 2021-01-20 | 2021-06-08 | 农业农村部南京农业机械化研究所 | Self-propelled intelligent peanut seedling harvester and peanut seedling harvesting method |
| CN112969363A (en) * | 2018-09-28 | 2021-06-15 | 凯斯纽荷兰(中国)管理有限公司 | Controller for agricultural harvester |
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Cited By (23)
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| CN102696337A (en) * | 2012-06-19 | 2012-10-03 | 中国农业大学 | Multi-objective control interference resistance optimization method for combine harvesters |
| CN102696337B (en) * | 2012-06-19 | 2014-01-29 | 中国农业大学 | Multi-objective control interference resistance optimization method for combine harvesters |
| CN103019123A (en) * | 2012-12-26 | 2013-04-03 | 上海大学 | Intelligent control system for cotton picker |
| CN103749075A (en) * | 2014-01-02 | 2014-04-30 | 洛阳理工学院 | Control system for combined harvesters |
| CN103749075B (en) * | 2014-01-02 | 2015-11-18 | 洛阳理工学院 | A kind of control system for combined harvester |
| CN105549484A (en) * | 2016-01-22 | 2016-05-04 | 济南大学 | Corn threshing and threshing intelligent control system based on DSP |
| CN106612939A (en) * | 2016-12-30 | 2017-05-10 | 广西民族大学 | Sugarcane harvester and anti-clogging method thereof |
| CN108506283A (en) * | 2018-03-06 | 2018-09-07 | 广西大学 | A kind of anti-blocking electrohydraulic control system of sugar-cane cutting machine transfer passage |
| CN110447379A (en) * | 2018-05-08 | 2019-11-15 | 克拉斯自行式收获机械有限公司 | Combine harvester and method for running combine harvester |
| CN110447379B (en) * | 2018-05-08 | 2022-10-28 | 克拉斯自行式收获机械有限公司 | Combine harvester and method for operating a combine harvester |
| CN112969363B (en) * | 2018-09-28 | 2024-04-02 | 凯斯纽荷兰工业(哈尔滨)机械有限公司 | Controller for agricultural harvester |
| CN112969363A (en) * | 2018-09-28 | 2021-06-15 | 凯斯纽荷兰(中国)管理有限公司 | Controller for agricultural harvester |
| CN109526381A (en) * | 2019-01-07 | 2019-03-29 | 中国农业大学 | A kind of low damage threshing control system of maize harvesting machine and method |
| CN109526381B (en) * | 2019-01-07 | 2020-05-01 | 中国农业大学 | Low-loss threshing control system and method for corn harvester |
| CN109548465A (en) * | 2019-01-11 | 2019-04-02 | 雷沃重工股份有限公司 | The autocontrol method and control system and cropper of a kind of roller variable speed |
| CN109548465B (en) * | 2019-01-11 | 2021-06-29 | 潍柴雷沃重工股份有限公司 | Automatic control method and system for stepless speed change of roller and harvester |
| CN109932178A (en) * | 2019-02-01 | 2019-06-25 | 江苏大学 | A kind of multiple strand chain drive failure diagnostic system and method |
| CN109932178B (en) * | 2019-02-01 | 2020-12-18 | 江苏大学 | Fault diagnosis system and method for multistage chain transmission mechanism |
| CN110249780B (en) * | 2019-05-22 | 2021-11-23 | 江苏大学 | Cleaning sieve surface material state monitoring system, control method and combine harvester |
| CN110249780A (en) * | 2019-05-22 | 2019-09-20 | 江苏大学 | A kind of sorting screen surface material state monitoring system and control method and combine harvester |
| CN112913441A (en) * | 2021-01-20 | 2021-06-08 | 农业农村部南京农业机械化研究所 | Self-propelled intelligent peanut seedling harvester and peanut seedling harvesting method |
| CN112690079A (en) * | 2021-01-20 | 2021-04-23 | 农业农村部南京农业机械化研究所 | Middle conveying device for self-propelled intelligent peanut seedling harvester |
| CN112690079B (en) * | 2021-01-20 | 2022-05-24 | 农业农村部南京农业机械化研究所 | Middle conveying device for self-propelled intelligent peanut seedling harvester |
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Application publication date: 20110615 |